Adaptive hybrid force/position control for the Space Station Alpha robotic operations

Abstract

SummaryThe Space Station Alpha is the most significant international space project of this century and the largest international technology development project ever undertaken. The space robot manipulators will be a substantial part of the space station and will perform tasks such as assembly as well as maintenance of the station. Therefore the robot manipulators need a very sophisticated real-time control capability for gross and fine motions (i.e. compliant motions) during various operations. Moreover, the proposed dual-arm robot system servicing the Space Station requires automated motion coordination, synchronization of the arms, and controlled mechanical interaction with fixed and moving objects involved in various tasks.

Robust fuzzy sliding mode control and vibration suppression of free-floating flexible-link and flexible-joints space manipulator with external interference and uncertain parameter

“…There are considerable achievements in the research of the space manipulator [1,2,3,4,5,6,7,8,9,10,11,12]. Many control methods have been proposed, such as PID control, robust control [13,14,15], adaptive control [16,17,18], fuzzy control, neural network control, and many hybrid control methods [19,20,21,22,23,24,25,26].…”

Sliding mode with adaptive estimation force control of robot manipulators interacting with an unknown passive environment

“…Kalaycioglu and Brown 11 implemented the hybrid position/force controller with an adaptive algorithm for the identification of the unknown environment parameters. The used estimation algorithm is based on the least squares with exponential forgetting.…”